We present an almost fully analytical technique for computing Casimir interactions between 1D periodic lamellar gratings based on a modal approach. Our method improves on previous work on Casimir modal approaches for nanostructures by using the exact form of the eigenvectors of such structures, and computing eigenvalues by solving numerically a simple transcendental equation. In some cases eigenvalues can be solved for exactly, such as the zero frequency limit of gratings modeled by a Drude permittivity. Our technique also allows us to predict analytically the behavior of the Casimir interaction in limiting cases, such as the large separation asymptotics. The method can be generalized to more complex grating structures, and may provide a deeper understanding of the geometry-composition-temperature interplay in Casimir forces between nanostructures.